CN104669293B - A kind of clipping inflation catching hand - Google Patents
A kind of clipping inflation catching hand Download PDFInfo
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- CN104669293B CN104669293B CN201510139310.6A CN201510139310A CN104669293B CN 104669293 B CN104669293 B CN 104669293B CN 201510139310 A CN201510139310 A CN 201510139310A CN 104669293 B CN104669293 B CN 104669293B
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- inflation valve
- spreading
- inflation
- arm
- mechanical arm
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Abstract
A kind of clipping inflation catching hand, belong to space technology field, solve the problem that existing extraterrestrial target arresting agency exists, it comprises mechanical arm controlling organization, on mechanical arm controlling organization, be provided with two relative mechanical arms, done to the inside holding action and opened laterally action by mechanical arm controlling organization control mechanical arm, being respectively arranged with the inflation valve for spreading arm of an arc at the front end of each mechanical arm, two inflation valve for spreading arms are bending to the inside; Be respectively arranged with longitudinal wind spring in the outside of two inflation valve for spreading arms, the length of every wind spring expansion is identical with the length of corresponding inflation valve for spreading arm, the outer surface of every wind spring is bonding with corresponding inflation valve for spreading arm, make inflation valve for spreading arm curling laterally with wind spring before inflation, the present invention is used for arresting space large scale noncooperative target.
Description
Technical field
The invention belongs to space technology field, be specifically related to a kind of clipping inflation catching hand.
Background technology
Extraterrestrial target (comprising cooperative target and noncooperative target) is operated in-orbit with serving and need to have arresting agency to complete arresting in-orbit, discharging of target and the relative operation such as fixing; Existing extraterrestrial target arresting agency mainly adopts mechanical type paw mechanism, can be used for arresting of implementation space cooperative target. But utilize mechanical type paw arresting agency to carry out arresting of noncooperative target, comprise do not install cooperation grasping mechanism one's own side's aircraft, one's own side's device cooperation parts break down or inert satellite, the other side's spacecraft, space large scale fragment etc., size and the joint quantity of arresting agency will be rolled up, complexity, total quality and the operation easier of arresting agency and control system thereof are increased, reduce the reliability of system, increase manufacture and launch cost, and easily target has been caused to damage.
Summary of the invention
The object of the invention is the problems referred to above that exist in order to solve existing extraterrestrial target arresting agency, a kind of clipping inflation catching hand is provided, its technical scheme is as follows:
A kind of clipping inflation catching hand, it comprises mechanical arm controlling organization, on mechanical arm controlling organization, be provided with two relative mechanical arms, do to the inside holding action and open laterally action by mechanical arm controlling organization control mechanical arm, be respectively arranged with the inflation valve for spreading arm of an arc at the front end of each mechanical arm, two inflation valve for spreading arms are bending to the inside; Be respectively arranged with longitudinal wind spring in the outside of two inflation valve for spreading arms, the length of every wind spring expansion is identical with the length of corresponding inflation valve for spreading arm, the outer surface of every wind spring is bonding with corresponding inflation valve for spreading arm, makes inflation valve for spreading arm curling laterally with wind spring before inflation.
Inflation valve for spreading arm adopts flexible composite, and the tube wall of inflation valve for spreading arm is followed successively by inner liner, bearing layer, zone of heating and skid resistant course from inside to outside, and inner liner material is butyl rubber thin-film material, ensures the stability of the blowing pressure in catching hand; Bearing layer material is aramid fiber reinforced composite, is the primary structure of bearing catching hand the blowing pressure; Zone of heating is heating wire, ensures stability and the material property of catching hand inside configuration air pressure under space low temperature condition; Skid resistant course adopts anti-slip rubber material, and the material layer directly contacting with target is used for increasing the frictional force of objective body and catching hand Contact face, can prevent target slippage, can only at the medial surface of inflation valve for spreading arm, skid resistant course be set, and reduces total quality.
Rear end at every inflation valve for spreading arm is provided with valve, can be connected with inflation/deflation control system, controls respectively every interior inflated supporting core pipe and carries out separately inflation/deflation.
Beneficial effect of the present invention is: inflation valve for spreading arm has extended length and the manipulation scope of mechanical arm, significantly shorten the size of mechanical arm, only need very short mechanical arm to drive inflation valve for spreading arm, there is transmitting volume little, lightweight, launch the advantages such as reliable, can arrest larger sized noncooperative target, and do not need to coordinate the grasping mechanism being arranged on objective body, there is good adaptive capacity for the target with irregularly shaped and larger size range, after the inflation of inflation valve for spreading arm, there is enough rigidities of structure, make to be grabbed between target and form and be firmly connected with quilt after catching hand capture target, be convenient to target to move, fix and wait operation, arrest with dispose procedure control mode simple and reliable to target, be easy to control, inflation arm adopts flexible composite, can not cause damage to target.
Brief description of the drawings:
Fig. 1 is structural representation of the present invention;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the structural pipe wall schematic diagram of inflation valve for spreading arm.
Detailed description of the invention:
With reference to Fig. 1, Fig. 2 and Fig. 3, a kind of clipping inflation catching hand, it comprises mechanical arm controlling organization 1, on mechanical arm controlling organization 1, be provided with two relative mechanical arms 2, controlling mechanical arm 2 by mechanical arm controlling organization 1 does to the inside holding action and opens laterally action, 3, two the inflation valve for spreading arms 3 of inflation valve for spreading arm that are respectively arranged with an arc at the front end of each mechanical arm 2 are bending to the inside; Be respectively arranged with longitudinal wind spring 3-1 in the outside of two inflation valve for spreading arms 3, the length of every wind spring 3-1 expansion is identical with the length of corresponding inflation valve for spreading arm 3, the outer surface of every wind spring 3-1 is bonding with corresponding inflation valve for spreading arm 3, makes inflation valve for spreading arm 3 curling laterally with wind spring 3-1 before inflation.
Inflation valve for spreading arm 3 adopts flexible composite, the tube wall of inflation valve for spreading arm 3 is followed successively by inner liner 3-2, bearing layer 3-3, zone of heating 3-4 and skid resistant course 3-5 from inside to outside, inner liner 3-2 material is butyl rubber thin-film material, ensures the stability of the blowing pressure in catching hand; Bearing layer 3-3 material is aramid fiber reinforced composite, is the primary structure of bearing catching hand the blowing pressure; Zone of heating 3-4 is heating wire, ensures stability and the material property of catching hand inside configuration air pressure under space low temperature condition; Skid resistant course 3-5 adopts anti-slip rubber material, and the material layer directly contacting with target is used for increasing the frictional force of objective body and catching hand Contact face, can prevent target slippage, can only at the medial surface of inflation valve for spreading arm 3, skid resistant course 3-5 be set, and reduces total quality.
Rear end at every inflation valve for spreading arm 3 is provided with valve, can be connected with inflation/deflation control system, controls respectively every interior inflated supporting core pipe and carries out separately inflation/deflation.
In order to arrest less target, two inflation valve for spreading arms 3 shift to install, and make two inflation valve for spreading arms 3 not in same plane, and while arresting less target, the front end of two inflation valve for spreading arms 3 can intersect and arrests.
Operation principle: two inflation valve for spreading arms 3 adopt flexible composite manufacture, in the time driving without the blowing pressure, can be curling folding with wind spring 3-1, be convenient to delivery; When capture target, inflating expanded to two inflation valve for spreading arms 3, then control two inflation valve for spreading arms 3 by mechanical arm 2 and clamp target, while discharging target, can control two inflation valve for spreading arms 3 by mechanical arm 2 opens, also can directly two inflation valve for spreading arms 3 be exitted, curling folding with wind spring 3-1 after two inflation valve for spreading arm 3 venting, target is discharged.
Claims (3)
1. a clipping inflation catching hand, it comprises mechanical arm controlling organization (1), it is characterized in that being provided with two relative mechanical arms (2) on mechanical arm controlling organization (1), controlling mechanical arm (2) by mechanical arm controlling organization (1) does to the inside holding action and opens laterally action, be respectively arranged with the inflation valve for spreading arm (3) of an arc at the front end of each mechanical arm (2), two inflation valve for spreading arms (3) are bending to the inside, be respectively arranged with longitudinal wind spring (3-1) in the outside of two inflation valve for spreading arms (3), the length that every wind spring (3-1) launches is identical with the length of corresponding inflation valve for spreading arm (3), the outer surface of every wind spring (3-1) is bonding with corresponding inflation valve for spreading arm (3), inflation valve for spreading arm (3) adopts flexible composite, the tube wall of inflation valve for spreading arm (3) is followed successively by inner liner (3-2) from inside to outside, bearing layer (3-3), zone of heating (3-4) and skid resistant course (3-5), inner liner (3-2) material is butyl rubber thin-film material, bearing layer (3-3) material is aramid fiber reinforced composite, zone of heating (3-4) is heating wire, skid resistant course (3-5) adopts anti-slip rubber material.
2. a kind of clipping inflation catching hand as claimed in claim 1, is characterized in that being provided with valve in the rear end of every inflation valve for spreading arm (3).
3. a kind of clipping inflation catching hand as claimed in claim 1, is characterized in that two inflation valve for spreading arms (3) shift to install.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510139310.6A CN104669293B (en) | 2015-03-28 | 2015-03-28 | A kind of clipping inflation catching hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510139310.6A CN104669293B (en) | 2015-03-28 | 2015-03-28 | A kind of clipping inflation catching hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104669293A CN104669293A (en) | 2015-06-03 |
| CN104669293B true CN104669293B (en) | 2016-05-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510139310.6A Expired - Fee Related CN104669293B (en) | 2015-03-28 | 2015-03-28 | A kind of clipping inflation catching hand |
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| Country | Link |
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| CN (1) | CN104669293B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104890004A (en) * | 2015-06-09 | 2015-09-09 | 杭州南江机器人股份有限公司 | Robot bionic finger |
| CN107814151B (en) * | 2017-10-26 | 2020-04-21 | 中国农业大学 | Flexible multi-functional transportation frock of leaf spring formula |
| CN109048982B (en) * | 2018-10-25 | 2021-11-09 | 方冠（常州）数控科技有限公司 | Soft self-locking mechanical arm positioning method |
| CN109760860B (en) * | 2018-12-11 | 2022-04-05 | 上海航天控制技术研究所 | Ground test system for capturing non-cooperative rotating target by two arms in cooperation |
| CN111376302B (en) * | 2018-12-30 | 2023-04-07 | 中国科学院沈阳自动化研究所 | Manipulator flexible clamping jaw for underwater environment |
| CN109732586B (en) * | 2019-01-18 | 2021-02-09 | 哈尔滨工业大学 | Multistage growth type software robot |
| CN110027012A (en) * | 2019-05-10 | 2019-07-19 | 山东科技大学 | A kind of flexible pneumatic mechanical arm and preparation method thereof |
| CN110281256A (en) * | 2019-06-28 | 2019-09-27 | 清华大学深圳研究生院 | A kind of software handgrip and its manufacturing method based on pneumatic software actuator |
| CN110394795A (en) * | 2019-08-12 | 2019-11-01 | 浙江大学 | The pneumatic software mechanical arm of high storage rate autofolding based on paper folding theory |
| CN114473080B (en) * | 2022-02-22 | 2023-05-26 | 浙江午马减速机有限公司 | Elastic pre-tightening clamp for gear shaft end face of speed reducer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19617852A1 (en) * | 1996-04-23 | 1997-10-30 | Karlsruhe Forschzent | Process for the planar production of pneumatic and fluidic miniature manipulators |
| CN1613618A (en) * | 2004-11-04 | 2005-05-11 | 江南大学 | Fluid driving bending joint of spiral spring frame |
| CN202250355U (en) * | 2011-07-24 | 2012-05-30 | 天津市特隆汽车零部件有限公司 | Automobile radiator rubber hose |
| CN203665529U (en) * | 2013-12-31 | 2014-06-25 | 重庆交通大学 | Mechanical arm with crossed and staggered mechanical fingers |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102005061266A1 (en) * | 2005-12-20 | 2007-08-16 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Hand prosthesis and power transmission device |
-
2015
- 2015-03-28 CN CN201510139310.6A patent/CN104669293B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19617852A1 (en) * | 1996-04-23 | 1997-10-30 | Karlsruhe Forschzent | Process for the planar production of pneumatic and fluidic miniature manipulators |
| CN1613618A (en) * | 2004-11-04 | 2005-05-11 | 江南大学 | Fluid driving bending joint of spiral spring frame |
| CN202250355U (en) * | 2011-07-24 | 2012-05-30 | 天津市特隆汽车零部件有限公司 | Automobile radiator rubber hose |
| CN203665529U (en) * | 2013-12-31 | 2014-06-25 | 重庆交通大学 | Mechanical arm with crossed and staggered mechanical fingers |
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| Publication number | Publication date |
|---|---|
| CN104669293A (en) | 2015-06-03 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| CB03 | Change of inventor or designer information |
Inventor after: Miao Runqi Inventor before: Miao Changqing |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20160419 Address after: 150000 Heilongjiang Province, Harbin city Nangang District Construction Street 1 No. 4 unit 3 floor No. 2 Applicant after: Miao Runqi Address before: 150000 Harbin, Nangang, West District, large straight street, No. 92 Applicant before: Harbin Institute of Technology |
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